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In this paper we develop a simple yet more effective filtering algorithm for maneuvering target tracking of 3D Passive Location System by combination of pseudo linear filter with modified input estimation approach. In this method, the acceleration is treated as an additive input term in the corresponding state equation, and the augmented pseudo linear filter is used to solve the passive tracking problem of air maneuvering target. The original state and acceleration vectors are estimated simultaneously with the augmented pseudo linear filter. The proposed tracking algorithm operates in both the non-manoeuvring and the manoeuvring modes, and the manoeuvre detection procedure is eliminated. Simulation results show that using the method proposed in this paper passive sensor can track the maneuvering air target.